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EN
Small, lightweight, power-efficient and low-cost microelectromechanical system (MEMS) inertial sensors and microcontrollers available in the market today help reduce the instability of Multibeam Sonars. Current MEMS inertial measurement units (IMUs) come in many shapes, sizes, and costs — depending on the application and performance required. Although MEMS inertial sensors offer affordable and appropriately scaled units, they are not currently capable of meeting all requirements for accurate and precise attitudes, due to their inherent measurement noise. The article presents the comparison of different MEMS technologies and their parameters regarding to the main application, namely Multibeam Echo Sounders (MBES). The quality of MEMS parameters is crucial for further MBES record-processing. The article presents the results of undertaken researches in that area, and these results are relatively positive for low-cost MEMS. The paper undertakes some vital aspect of using MEMS in the attitude and heading reference system (AHRS) context. The article presents a few aspects of MEMS gyro errors and their estimation process in the context of INS processing flow, as well as points out the main difficulties behind the INS when using a few top MEMS technologies.
EN
The knowledge of the location, shape and other characteristics of spatial objects in the coastal areas has a significant impact on the functioning of ports, shipyards, and other waterinfrastructure facilities, both offshore and inland. Therefore, measurements of the underwater part of the waterside zone are taken, which means the bottom of the water and other underwater objects (e.g. breakwaters, docks, etc.), and objects above the water, such as the above-water part of the waterside, breakwaters, hydraulic constructions, and other objects of the waterside infrastructure. In this paper, project results of an integrated acoustical-optical system for inventory of hydrotechnical objects are presented. The aim of the project was to elaborate a mobile underwater scanning system which could be applied in various works that require precise, detailed and coherent, underwater and above-water measurement, especially in areas associated with surveying, inspection and monitoring of objects in coastal areas.
EN
Over the past decades microelectromechanical systems (MEMS) researchers have demonstrated a number of microsensors for almost every possible sensing modality, including attitudes. Current MEMS inertial measurement units (IMU) come in many shapes, sizes, and costs — depending on the application, and performance required. MEMS sensors have proved and demonstrated performance exceeding those of their macroscale counterpart sensors. In the paper chosen IMU applications in underwater measurements are presented. First, for reduction of instability of the underwater sensor during measurements, like multibeam echosounder system (MBES), where the MEMS parameters’ quality are crucial for further MBES record-processing. Second, in underwater navigation systems, for determining the position of underwater vehicles, like Remotely Operated Vehicles (ROV) and, more recently, Autonomous Underwater Vehicle (AUV) or to improve other positioning methods.
EN
The knowledge of the location, shape and other characteristics of spatial objects in the coastal areas has a significant impact on the functioning of ports, shipyards, and other waterinfrastructure facilities, both offshore and inland. Therefore, measurements are taken of the underwater part of the waterside zone, which means the bottom of water and other underwater objects (e.g. breakwaters, docks, etc.), and objects above the water, such as the above-water part of the waterside, breakwaters, hydraulic constructions, and other objects of the waterside infrastructure. In this paper, a project of a mobile inventory system for hydrotechnical objects using data from multiple sensors operating simultaneously will be presented. The aim of the project is to elaborate a mobile underwater scanning system which could be applied in various works requiring precise, detailed and coherent, underwater and above-water measurement, especially in areas associated with surveying, inspection and monitoring of objects in coastal areas. To elaborate the concept of the system, analysis concerning existing methods of precise underwater and above-water measurement, as well as the measuring equipment available, was carried out. The results of the research were used to develop the concept of a mobile system equipped with underwater laser scanning and acoustic positioning. The technology demonstration was developed using a specially-built laboratory environment that simulates hydrotechnical infrastructure with access to GPS data. The final stage of the project will consist of testing the system in open waters.
EN
Small, lightweight, power-efficient, and low-cost microelectromechanical system (MEMS) inertial sensors and microcontrollers, available in the market today, help reduce the instability of Multibeam Sonars. Current MEMS inertial measurement units (IMUs) come in many shapes, sizes, and costs — depending on the application and performance required. Although MEMS inertial sensors offer affordable, appropriately scaled units, they are not currently capable of meeting all requirements for accurate and precise attitudes, due to their inherent measurement noise. The article presents the comparison of different MEMS technologies, and their parameters regarding to the main application; namely, Multibeam Echo Sounders (MBES). The MEMS parameters’ quality are crucial for further MBES record- processing, the article presents the results of undertaken researches in that area, and the results are relatively positive for low-cost MEMS.
EN
Positioning accuracy is very important in many areas, whereas the typical GPS receiver accuracy is often not sufficient. The European Geostationary Navigation Overlay Service (EGNOS), Europe’s first venture into satellite navigation, improves the open public service offered by the Global Positioning System (GPS). As a satellite navigation augmentation system, EGNOS improves the accuracy of GPS by providing a positioning accuracy to within 3 meters. In this paper we present GNSS receivers based on EGNOS, dedicated for precise positioning in restricted areas of continental shelf performance. The article presents some results regarding position accuracy, obtained for a few receivers in that context.
EN
The article discusses damages of essential tribological associations in crankshaft and piston systems of large power two-stroke engines used as main engines, which take place during transport tasks performed by those ships. Difficulties are named which make preventing those damages impossible, despite the fact that the technical state of engines of this type is identified with the aid of complex diagnostic systems making use of advanced computer technology. It is demonstrated that one of causes of the damages is the lack of research activities oriented on recognising random properties of the loads leading to those damages. A proposal is made for the loads acting at a given time t on tribological associations in crankshaft and piston systems of internal combustion engines used as main engines to be considered as random variables Qt. At the same time the loads examined within a given time interval tr ≤ t ≤ tz would be considered stochastic processes {Q(t): t ≥ 0}. Essential properties of the loads of the abovementioned tribological associations are named and explained by formulating hypotheses which need empirical verification. Interval estimation is proposed for estimating the expected value E(Qt) of the load Qt acting at time t. A relation is indicated between the mechanical load and the thermal load acting on tribological associations in the ship main engine crankshaft and piston system. A suggestion is formulated that a stochastic form of the relation between these types of load is to be searched for, rather than statistic relation, and a proposal is made to measure the intensity (strength) of the stochastic relation using the Czuprow’s convergence coefficient.
EN
The GPS system is widely used in navigation and the GPS receiver can offer long-term stable absolute positioning information. The overall system performance depends largely on the signal environments. The position obtained from GPS is often degraded due to obstruction and multipath effect caused by buildings, city infrastructure and vegetation, whereas, the current performance achieved by inertial navigation systems (INS) is still relatively poor due to the large inertial sensor errors. The complementary features of GPS and INS are the main reasons why integrated GPS/INS systems are becoming increasingly popular. GPS/INS systems offer a high data rate, high accuracy position and orientation that can work in all environments, particularly those where satellite availability is restricted. In the paper integration algorithm of GPS and INS systems data for pedestrians in urban area is presented. For data integration an Extended Kalman Filter (EKF) algorithm is proposed. Complementary characteristics of GPS and INS with EKF can overcome the problem of huge INS drifts, GPS outages, dense multipath effect and other individual problems associated with these sensors.
EN
Digital signal processing technology has revolutionized a way of processing, visualisation and interpretation of data acquired by underwater systems. Through many years side scan sonars were one of the most widely used imaging systems in the underwater environment. Although they are relatively cheap and easy to deploy, more powerful sensors like multibeam echo sounders and sonars are widely used today and deliver 3D bathymetry of sea bottom terrain. Side scan sonar outputs data usually in a form of grey level 2D acoustic images but the analysis of such pictures performed by human eye allows creating semi-spatial impressions of seafloor relief and morphology. Hence the idea of post-processing the side scan sonar data in a manner similar to human eye to obtain 3D visualisation. In recently developing computer vision systems the shape from shading approach is well recognized technique. Applying it to side scan sonar data is challenging idea used by several authors. In the paper, some further extensions are presented. They rely on processing the backscattering information of each footprint (pixel in sonar image) along with its surroundings. Additionally, a current altitude is estimated from the size of shadow areas. Both techniques allow constructing 3D representation of sea bottom relief or other investigated underwater objects.
EN
Side scan sonar (SSS) is one of the most widely used imaging systems in the underwater environment. It is relatively cheap and easy to deploy in comparison with more powerful sensors like multibeam echosounder or synthetic aperture sonar. Although, the SSS does not provide directly the seafloor bathymetry measurements. Its outputs are usually in a form of grey level acoustic images of seafloor. However, the analysis of such images performed by human eye allows creating semi-spatial impressions on seafloor relief and morphology. The 3D shape reconstruction from 2D images using SFS approach is one of classical problems in computer vision. In the paper, the method based on Shape From Shading (SFS) technique for SSS images processing is presented. The 3D seafloor relief is reconstructed using the information from both the currently processed and previous ping. The seafloor backscattering coefficient dependence on an incident angle, which is needed in the applied SFS algorithm scheme, is being estimated in the experimental way, i.e. by analysis of SSS image contents for the flat seabed region.
PL
Pierwotnym zamysłem zespołu było stworzenie uniwersalnego systemu grającego w gry planszowe. Mierząc się z tym problemem, postanowiono zrobić jednak coś więcej - wywrócić dotychczasową koncepcję pracy użytkownika z komputerem „do góry nogami” i nie zmuszać użytkownika do nauki interfejsu, a zmusić system do współpracy z interfejsem, który rozumie użytkownik. Dokonane zostało więc przejście ze świata wirtualnego do świata rzeczywistego i tak powstał system o nazwie BoGaRo – Board Game Robot. Jako demonstrację możliwości robota wybrano grę w warcaby. W niniejszym referacie zostaną przedstawione kolejne moduły składowe systemu: sterowania ramieniem, rozpoznawania obrazu i logiki gry, ukazując także aspekty ich uniwersalności. Na zakończenie zostanie przedstawione porównanie z innymi systemami oraz plan dalszego rozwoju systemu.
EN
Creating an universal board gaming system was the primary intention of the designing team. The result went far beyond the design, though, as the current conception of human-computer interface was turned upside down. Instead of forcing user to learn the interface, computer was made to act the way human understands. Virtual reality was transposed to the real world – and that way the BoGaRo – Board Game Robot – came into being. In this paper, all of the system components: arm control, image recognition and game logic module were described, revealing its flexibility. Furthermore, comparisons with other gaming robots and further improvements were presented.
EN
The Inertial Navigation System (INS) is usually employed to determine the position of an underwater vehicles, like Remotely Operated Vehicles (ROV) and, more recently, Autonomous Underwater Vehicle (AUV). The accuracy of the position provided by the INS, which uses accelerometers and gyroscopes, deteriorates with time. An external aiding sources such as the Global Positioning System (GPS) can be employed to reduce the error growth in the INS. The GPS aided INS system provides enhance positioning accuracy of the underwater vehicles compared to that of a stand-alone INS technique. In the paper integration algorithm of inertial sensors (accelerometers and gyroscopes) and GPS system data for underwater navigation is presented. For data integration algorithm External Kalman Filter (EKF) is proposed.
EN
Over the past sixty years of the "Transistor Era," and increasingly during the integrated circuit "Moore's Law Era," digital electronics has permeated into every aspect of the modern western lifestyle. However, to date, most embedded computer devices have either been purpose-built at great expense (e.g. ASICs), or the application code has been shoe-horned into general purpose computers designed for spreadsheets and word processing. Vital Electronics is the study and use of electrical components, circuits, networks, and systems to achieve a design goal of protecting, saving, and improving critical infrastructure and hence the quality of life. The paper focuses on the Vital Electronics curriculum aimed at building affordable trustworthy Embedded Systems.
PL
Przez całe sześćdziesiąt lat "ery tranzystora" oraz tym bardziej w czasie ery układów scalonych i obowiązywania "prawa Moore'a" układy cyfrowe przeniknęły do każdego aspektu współczesnego życia. Jednakże, do dziś, najbardziej zaawansowane systemy wbudowane były tworzone dużym kosztem, jako dedykowane rozwiązania (np. ASICs Application Specific Integrated Circuit), albo wykorzystywane były komputery ogólnego przeznaczenia, jako arkusze kalkulacyjne i edytory tekstu. Elektronika wszechobecna (ang. Vital Electronics) obejmuje aplikacje komputerów, układów elektronicznych, sieci bezprzewodowych dla osiągnięcia planowanego celu, którym jest zabezpieczanie, ochrona oraz rozwój infrastruktur krytycznych, a w konsekwencji podnoszenia jakości życia. Artykuł koncentruje się na programie elektroniki wszechobecnej nakierowanym na stworzenie ogólnodostępnych, niezawodnych systemów wbudowanych.
PL
W artykule przedstawiony zostanie prototyp systemu monitorowania wybranych parametrów środowiska z wykorzystaniem sieci GSM. Aktualnie opracowany system jest w stanie monitorować temperaturę, ciśnienie, wilgotność względną, natomiast w docelowym systemie dodatkowo - prędkość i kierunek wiatru, wielkość opadów, nasłonecznienie oraz wysokość wód w zbiornikach wodnych. Akwizycja danych z rozproszonych stacji meteorologicznych odbywa się na serwerze głównym z wykorzystaniem kanału radiowego GSM. Każdy zalogowany w systemie użytkownik uzyskuje dostęp do stałych powiadomień e-mailowych oraz SMS o aktualnym stanie pogody, jak również poprzez przeglądarkę WWW do archiwalnych danych. Dzięki automatyzacji procesu powiadomień system może służyć nie tylko, jako serwis pogodowy, ale również w ograniczonym zakresie, jako system wczesnego ostrzegania o zagrożeniach meteorologicznych na danym obszarze.
EN
The prototype of environment parameters monitoring system using GSM system will be presented in the paper. The present worked-out system is monitoring the temperature, pressure, the wind speed and direction, however in the target system will be monitoring the relative humidity rainfall size, sun exposure and water level in water body. The data acquisition from the scattered weather stations is being done at the main server by the GSM radio channel. Each logged in user has the access the permanent e-mail notice and the SMS about the actual weather, but also to the archive data through WWW browser. Thanks to the automatisation of the notification process the system can be used not only as a weather services, but also in the limited range as an early alert to the weather risk system at the given area.
EN
In this paper the PSoC integrated circuits and the concept of wireless sensors network using PSoC made by Cypress Semiconductor will be presented. PSoC is a true programmable embedded system-on-chip integrating configurable analog and digital peripheral functions, memory and a microcontroller on a single chip. Multifunction expansion card from CY3271 PSoC FirstTouch Starter Kit with CyFi Low-Power RF is used like a nodes in sensors network. This intuitive starter kit is designed to quickly evaluate the flexibility, integration, and mixed signal capabilities of Cypress PSoC in touch-sensing, temperature sensing, light-sensing applications, and also can be easily extended with another sensors. For wireless data transfer from nodes to central unit, Cypress 2.4 GHz CyFi Low-Power RF technology is used. Proposed wireless sensors network can be used in many various applications like home or building automation, medical devices, industrial process monitoring and control, robotics, public transport, and many other.
PL
W artykule zostanie przedstawiona koncepcja bezprzewodowej sieci sensorowej z wykorzystaniem mikrokontrolerów PSoC firmy Cypress. Mikrokontrolery PSoC (ang. Programmable System on a Chip) to 8-bitowe uniwersalne układy programowalne znajdujące zastosowanie między innymi w przemyśle, elektronice medycznej, telekomunikacji i samochodowych systemach sterowania. Mikrokontrolery PSoC pozwalają użytkownikom wybierać rodzaj i liczbę peryferiów analogowych, cyfrowych, sposób ich połączenia oraz wyprowadzenia sygnałów na płytkę drukowaną. Sieć sensorowa została zaprojektowana w oparciu o układy CY3271 PSoC FirstTouch Starter Kit with CyFi Low-Power RF. Układy te wyposażone są w czujniki temperatury, światła oraz zbliżenia, pozwalają jednak na swobodną rozbudowę o nowe dowolne sensory. Dane pomiarowe przesyłane są bezprzewodowo do jednostki centralnej z wykorzystaniem technologii CyFi firmy Cypress.
EN
Side scan and synthetic aperture sonars are widely used imaging systems in the underwater environment. They are relatively cheap and easy to deploy, in comparison with more powerful sensors, like multibeam echosounders. Although side scan and synthetic aperture sonars does not provide seafloor bathymetry directly, their records are finally related to seafloor images. Moreover, the analysis of such images performed by human eye allows creating semi-spatial impressions of seafloor images obtained from side scan sonar echograms. In the paper, some techniques for 3D seafloor shape reconstruction from side scan and synthetic aperture sonars are presented. They are based on Shape From Shading (SFS) approach, which is one of classical problems in computer vision. The method for reconstruction of 3D seafloor relief using the information from both the currently processed and previous ping is presented. The advantage of the presented methods is their simplicity and the ability to produce the results within sequential, i.e. “one run” processing of side scan sonar image. Another algorithm relies on estimating the altitude gradient of the insonified surface from sonar data, combined with the use of dimension of shadow areas for estimation of the current elevation change. The presented results are promising and also show to some extent how the performance of the proposed algorithm might be improved in further investigation.
PL
Nowe zaawansowane narzędzia Technologii Informacyjnych i Komunikacyjnych mogą stanowić bardzo użyteczną pomoc podczas przewidywania różnego rodzaju zagrożeń jak również minimalizacji związanego z nimi ryzyka. Artykuł prezentuje Sieciowy System Informacji Przestrzennej dla Szacowania i Wizualizacji Infrastruktur Krytycznych i ich Zagrożeń, stworzony dla Urzędu Miejskiego w Gdańsku przez Politechnikę Gdańską. System ten jest przeznaczony do przetwarzania przestrzennego i mapowania wyników różnych analiz Infrastruktur Krytycznych, zaś CARVER2TM pełni w nim rolę głównego "sensora". System ten oferuje zintegrowane środowisko do wizualizacji scenariuszy zagrożeń jak również narzędzia pracy grupowej pozwalające na wymianę informacji pomiędzy odległymi fizycznie centrami decyzyjnymi. Artykuł opisuje również przykładowe zastosowanie syste-mu do wizualizacji i mapowania rezultatów wybranych analiz Infrastruktur Krytycznych w rejonie Trójmiasta.
EN
As useful aid in predicting different kinds of hazards and minimizing the associated potential risks are taken the newly developed advanced tools of Information and Communication Technologies (ICT). One example of such tool is the recently developed CARVER2TM. It allows for comparing dissimilar types of Critical Infrastructure (CI) using the same standards but does not yet provide visual presentation of the results nor their possible interac-tions in the geographic context. The paper presents a Web-Based Geographic Information System for Assessment and Visualization of Critical Infrastructure and its Hazards which was developed by the Gdansk University of Technology for the City i of Gdansk. The system was created for spatial processing and mapping of various CI analysis results, with the CARVER2TM as its basic "sensor". It works as an integrated solution for both visualization of critical scenarios and a team-enabled environment for information analysis and sharing among geographically distributed decision makers. The paper also focuses on the sample application of the modified system with reference to the visualization and mapping of the distribution of critical infrastructure components in the ports of the Tricity.
18
EN
Side scan sonar is one of the most widely used imaging systems in the underwater environment. It is relatively cheap and easy to deploy, in comparison with more powerful sensors. Although side scan sonar does not provide seafloor bathymetry directly, its records are directly related to seafloor images. In the paper, the method for 3D seafloor relief reconstruction from side scan sonar data is presented. The method is based on the Shape From Shading technique and for estimation of a bottom depth at a currently processed point, it uses the information from both currently processed and previous ping. The results obtained by several versions of the developed algorithm are presented. The obtained results are promising and also show how the performance of the proposed algorithm might be improved in further work.
PL
Technologie do wytwarzania grafiki 3D to dynamicznie rozwijająca się gałąź przemysłu informatycznego. Znajdują one zastosowanie nie tylko przy tworzeniu gier komputerowych, ale coraz częściej są wykorzystywane w systemach trójwymiarowej wizualizacji danych pomiarowych. Zastosowanie tych technologii pozwala na usprawnienie i przyśpieszenie wykonywania operacji graficznych, a co za tym idzie systemy te stają się oraz bardziej wydajne. Artykuł porusza problem trójwymiarowej wizualizacji dna morskiego na podstawie danych pochodzących z systemu wielowiązkowego. W prezentowanym systemie wykorzystano trzy technologie programistyczne do wytwarzania grafiki 3D (C++ OpenGL, Java 3D, Java OpenGL). W artykule przedstawiono problemy, na które natknięto się podczas tworzenia systemu coraz omówiono sposoby ich rozwiązywania.
EN
The paper briefly discusses some aspects of seafloor visualization using 3D graphics concepts. It describes the basic problems encountered in the software systems for storing multibeam echosoudners records and shows the basic solutions.
PL
Ochrona zarówno ludności jak i infrastruktur krytycznych państwa przed różnego rodzaju zagrożeniami, w postaci ataków terrorystycznych, katastrof naturalnych itp. wymaga w dobie obecnej podejmowania zdecydowanych i skutecznych działań. Powstające zaawansowane narzędzia z dziedziny technologii informacyjnych i komunikacyjnych coraz skuteczniej pomagają przewidywać możliwość wystąpienia tych zagrożeń oraz wspomagać podejmowanie działań minimalizujących ewentualne ich skutki. W artykule została przedstawiona koncepcja oraz pre-prototyp internetowego systemu GIS do analizy, wizualizacji oraz zdalnego udostępniania danych o infrastrukturach krytycznych i ich zagrożeniach. Prezentowany system poprzez integrację modułu do analizy infrastruktur krytycznych CARVER2 z systemem GIS do analizy, wizualizacji i zdalnego udostępniania danych przestrzennych stanowić będzie cenne narzędzie wspomagające realizację procedur zabezpieczania infrastruktur krytycznych przed atakami różnego rodzaju.
EN
The protection of people and critical infrastructures against various kind of hazard, like terrorist attacks, natural disasters etc., requires the determined and effective actions at present. The sort of new advanced tools being developed in the Information and Communication Technology branch becomes a useful aid in prediction of hazards and supporting the activities for minimising their results. The paper presents the concept of the Web-based GIS for analysis, visualisation and dissemination the data about critical infrastructure and its hazard. The system, integrating the CARVER2 module for critical infrastructure analysis with GIS module for spatial data processing, visualisation and dissemination, will be a useful tool supporting the critical infrastructure protection against several types of attack.
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